Control apparatus



March 18, 1947. J. H. BROADBENT EI'AL 7,407

CONTROL APPARATUS 4 Shee'ts-Sheet 1 Filed April 6, 1945 F! G- a n%=m INVENTORS JOHN H. BROROBILNT, JOHN A-LOFGREN.

March 18, 1947- J. H. BROADBENT ETAL 2,417,407

CONTROL APPARATUS Filed April 6, 1945 4 Sheets-Sheet 2 WITNESSES: INVENTORS JOHN H. Bnonoszm' 'y'gw m, JOHN ALorc-nsnr.

L5 ATTORNEY March 18,

WITNESSES:

J. H. BROADBENT EI'AL CONTROL APPARATUS Filed April 6, 1945 4 Sheets-Sheet Hill IIIHHI It'll- INVENTCRS 2 4 JOHN H-BROADBENT, 2 JOHNA-LOF'GREN.

March 18, 1947. J. H. BROADBIENT EI'AL 2,417,407

CONTROL APPARATUS Filed April 6, 1945 1 Sheets-Sheet 4 F'za."1.

JOHN J-LBROADBENT, Jwn A. LOF'QRENK I mam ATTORNEY Patented Mar. 18, 1941 CONTROL APPARATUS John H. Broadbent, Longmeadow, and John A.

Lofgren, Springfield, Mass., assignors to Westinghouse Electric Corporation, East Pittsburgh, Pa., a corporation of Pennsylvania Application April 6, 1945, Serial No. 586,878

Claims.

The invention relates to apparatus for eiiecting scanning movement of a body member or antenna and it has for an object to provide azimuth and elevation motors for moving the body mem her or antenna with improved means for controlling such motors so as to obtain the scanning desired by movements effected in azimuth and in elevation.

A further object of the invention is to provide apparatus for controlling, from a remote point, scanning movement about azimuth and elevation axes and wherein the body member or antenna is caused to move simultaneously about such axes with the result that, instead of scanning being restricted to an are, a spherical area may be substantially covered in that scanning is along helical paths.

A further object of the invention is to provide apparatus of the above character wherein move- ,ments about one of the azimuth and elevation axes is controlled so that, with movement from one limit and concurrentl with movement about the other axis, it traces a path of desired helical pitch until the other limit of movement about the first axis is reached, whereupon means is brought into play to efiect quick return movement about the first axis to the first limit, after which helical movement to the second limit is repeated and so on. In other words, a zig-zag pattern of scanning is traced, the beam, while moving in an are about one axis, being caused to move to and fro about the other axis, the latter movement occurring more rapidly. in one direction than in the other to secure the desired pattern.

a given axis and wherein such means comprises a driving motor operating an output member connected by telemetric means to control the operating motor together with means operated by the driving motor for reversing its direction so that the output member is given an alternating rotary motor to control the body member to effect a like character of motion thereof about its mounting axis.

A further object of the invention is to provide apparatus for controlling scanning movement of a body member to and fro about a mounting axis by means of a driving motor which is reversed by limit switches operated by the latter.

Another object of the invention is to provide apparatus for controlling, from a remote point, azimuth and elevation motors operative to move a body member or antenna about azimuth and elevation axes and wherein the apparatus comprises a pair of output members connected telemetrically so as to control the azimuth and the" elevation motors and operated by a pair of driving motors such that one of the driving motors is reversible to drive one of the output members in opposite directions and to drive the other output member in a single direction and the other driving motor is operative to drive the lastnamed output member in a direction opposed to that in which it is driven by the first motor upon release of a normally engaged clutch in the drive between the first motor and the second output member.

A further object of the invention is to provide apparatus of the above character having telemetric means for the control of the azimuth and elevation motors and wherein each such means includes a diiierential having input members operative in synchronous relation with respect to the output member and the body member and whose deviation velocity is sensed by a gyro as a proportional torque used to control the azimuth or elevation motor for the body member,

A further object of the invention is to provide apparatus of the above character and with the first and second driving motors provided with means controlling the input of energy thereto such that the first motor may be operated continuously in either direction or alternately in opposite directions under control of limit switches and wherein the second motor may be operated intermittently in the same direction with the intermittent motions controlled by limit switches.

These and other objects are effected by the invention as will be apparent from the following description and claims taken in connection with the accompanying drawings, forming a part of this application, in which:

Fig. 1 is a plan view of the controlling apparatus, parts thereof being shown in section;

Fig. 2 is a sectional view taken along the line IIII of Fig. l;

Fig. 3 is a sectional view taken along the line IIIIII of Fig. 1;

Fig. 4 is a sectional view taken along the line IV-IV, of Fig. 1;

Fig. 5 is a fragmentary sectional view showing the mechanical rectifier and magnetically re.- leased clutch arrangement;

Fig. 6 is a detail sectional view showing the over-running clutches used with opposed gears of the mechanical rectifier; and

3 Fig. 7 is a diagrammatic view of the entire antenna positioning system. I

Referring to Fig. '7, a body member, such as an antenna I0, is mounted about azimuth and elevation axes a c and e-e, respectively. Movements about these axes are effected by means of azimuth and elevation motors Ila and Ile controlled from a remote point to provide the desired pattern of scanning. Hereinafter, parts ofthe azimuth and elevation apparatus are designated by the same reference numeral distinguished by the subscripts "a and e, respectively,

Preferably the direction and speed of each of the motors Ila and He is effected by voltage control. Referring to the motor Ila, it is of the direct current type, it having a separately-excited field I21: and having an armature I4a in circuit with the armature I5a of the direct current generator I6a of the motor-generator set, at Na, including the driving motor I 8a. Voltage control for the motor Ila is effected by controlling, in a differential manner, excitation of the opposed fields of the generator Ilia and provided by the windings diagrammatically represented at I9a and a. The motor III: is similarly controlled, the motor-generator set, at IIe, having its enerator provided with differential field elements I9e and 20e.

Referring now to the remotely located control apparatus, the latter includes rotary output members 22a and 22e contributing controlling effects for the fields I9a, 20a and I96, 20e, respectively. Considering the output element 22a, the latter delivers its angular output to the input element 23a of the differential, at 24a. the differential having a second input element 25a receiving angular output from the body member about the azimuth axis a-a. The differential has an output element 26a whose angular motion is used to control, in a differential manner, exciting voltages impressed on the field elements I9a and 20a. As the differential receives inputs both from the output elements 22a and from the body member II] about the azimuth axis aa, it will be apparent that motion of the latter will occur in a follow-up manner with respect to the output member 22a, the feedback from the body member to the differential input element 25a tending to keep the body member matched angularly about the mounting axis with the output member 22a about its axis.

Preferably as shown, the differentials are constituted by differential generators incorporated in telemetric systems of a type well known in the art. For example, the input elements of the differential, at 24a, are shown as being comprised by polyphase windings 23a and 25a connected, respectively, to similar-windings 21a and 28a of synchro-generators 29a and 30a driven, respectively, by the output member 22a and by the body member I0 as the latter moves about the azimuth axis 1-11. The voltages of the windings 23a and 25a react differentially to produce rotary movement of the output element 26a to actuate any suitable means, for example, the contacts 3Ia and 32a for controlling voltages impressed on the field elements I9a and 20a.

To secure prompt response, that is, to minimize lag, and to provide for a minimum of error as between the angular positions of the output member 22a and the body member about the azimuth axis, the'differential output element 26a operates, through a gyro, at 33a, to introduce a velocity function, that is, instead of the contacts being operated in response to magnitude of output movement of the differential, they are operated torque.

in response to velocity of such movement, with the result that the error or deviation is greatly minimized.

The gyro, at 33a, includes a rotor 34a having a spin axis m-a: and mounted for movement about a pair of axes yy and z-z, which are transverse to each other and to the spin axis, the axis y-y extending transversely of the spin axis and the precession. axis z-z being disposed at right angles both to the axis y-y and the, spin axis. It is a well-established law of gyro dynamics (T:lswsW, where T" is torque, "15 is moment of inertia about the spin axis, ws" is angular velocity about the spin axis, and W" is angular velocity about an axis at right angles to the spin axis and to the torque axis) that angular velocity about one of the axes of the pair transverse to the spin axis is accompanied by proportional torque about the other axis of the pair. To take advantage of this gyro characteristic in controlling the contacts, the rotor is journaled in/the inner frame 35a about the spin axis x-x, the inner frame is pivotally connected to the outer frame 36a about the precession axis zz and the outer frame is connected to move angularly with the output element 26a of the differential, in consequence of which input velocity about the axis y-y is accompanied by proportional torque about the precession axis.

Centering springs 31a are connected to the gyro outer and inner frame and serve to center the latter about the precession axis. The springs provide a scale effect such that the magnitude of motion about the precession axis is a function of the torque about the axis z-z and therefore of input angular velocity about the axisy-y; and,

as the contacts 3| a and 32a require magnitudes of motion for their actuation dependent upon the extent of actuation, the scale of the spring means is selected to give a torque movement which is correlated to the operating requirements of the contacts, with the result that voltage variations are secured in the circuits associated with the contacts such that the voltage differential is a function of the input angular velocity.

oscillatory effect of the gyro about the precession axis are substantially avoided by damping. Angular motion from the output element Zba to the gyro 33a. about the axis y-y is provided for in such manner that the means effective for this purpose also acts to damp prccessional oscillations about the axis z -z. The outer frame 36a is journaled or pivotally mounted with respect to the output element 26a and coupling elements 39a and 38a connect the output element 26a to the inner frame 350. for supplying input velocity to the gyro. As the coupling elements have surfaces normal to the precession axis zz and as the surfaces of one of the elements have a loose fit relative to the surface of the other, the inner frame andthe rotor are free to move about the precession axis zz. Torque transmitted through the engaging surfaces about the input axis yy results in precession about the axis z-2; however, precessional velocity about the axis z-z is accompanied by proportional torque about the axis y-y in opposed relation to the applied The gyro or reaction torque acts as a force normal to the friction surfaces with the result that a friction moment occurs about the precession axis; and, as the gyro reaction torque -is proportional to precessional velocity, the friction moment opposing motion about the precession axis z--z is proportional to 'precessional velocity about the latter, with the result that damping to the best advantage is secured.

The inner frame 35:: has an actuating member 40a connected thereto and cooperating with the contacts 3|a and 32a so that, as it moves from and toward mid position in opposite directions, the contacts are progressivelyengaged and disengaged. As shown, the contacts 3|a and 32a are tapped along resistors Ma and 42a for the circuits 43a and 44a including the generator field elements l9a and 20a. As the contacts of a group are engagedand disengaged, portions of resistance of the resistors are shunted or included in circuit. Therefore, as-the actuator moves in oppos'ite directions from and toward mid position, the contacts are engaged and disengaged to vary the voltages of the circuits 43a and 44a difierentiaily in opposite directions in consequence of which the field elements Illa and 25a are excited differentially in opposite directions to vary the direction and magnitude of the voltage applied by the generator |5a to the motor I la.

A gyro, at 33c, cooperate in a similar manner with the differential, at 24c, in effecting voltage control of the elevation motor He.

The controlling apparatus is provided with a driving motor 45, first gearing mechanism, connecting the motor to the output member 22a. Second gearing mechanism; at 48, is connected to the output member 22c.

The first gearing mechanism, at 41, also operates a mechanical rectifier, at 49, so that motion of the gearing mechanism in opposite directions is accompanied by angular motion of the output element 50 of the rectifier in a single direction. As shown, the rectifier i comprised by opposed bevel gears 5| and 52 connected to the driving shaft 53, forming a part of the gearing mechanism, at 41, through oppositely-arranged overrunning or free wheeling roller clutches 54 (see Fig. 6).

A magnetic clutch ment 50 to that movement of the latter in a single direction occurs with movement of the first gear mechanism, at 41, in opposite directions.

A second driving motor second gearing mechanism, at 48, and it is controlled to operate alternately with the clutch 55 to drive the second gear mechanism and therefore the output member 226. The clutch 55 is released by deenergization of its winding 51 when the motor 55 is energized. The clutch and the motor, therefore, provide for control of motion of the output member He such that movement of the body member ID may take place about the elevation axis e-e concurrently with movement thereof about the azimuth axis 0-41 and at a desired rate secured by motion transmitted from the motor 45 through the clutch 55, with quick return effected by alternate and opposite phases of movement of the output member He effected in response to release of the clutch and energize.- tion of the motor 55.

The first gear mechanism, at 41, delivers input motion to the differential, at 41a, whose output is delivered to the azimuth output member 220.. In like manner, the second gear mechanism, at 48, delivers input motion to the differential, at 48c, for driving the output member He. The differentials, at 41a and 48e, have manually-operable input elements 58 and 59 to efiect manual operation of the output elements 22a and Me, or, ii the latter are driven from the motor or motors, to advance or to retard the motions of 55 connects the output elethe second gear mechanism, at 48, so

55 is connected to the either or both thereof in relation to the motor or motors.

The motors 45 and 55 and the winding 51 of the clutch 55 are supplied from the direct current supply line 55. A single phase alternating current line 5| supplies the single phase winding-s of all of the synchro-generators and the controlling system for the motors 45 and 55 and for the winding 51.

As shown, the direct current motor 45 is provided with resistors 52 and 53 in the armature circuit and a resistor 54 in the field circuit, such resistors providing for .desired adjustment, including speed adjustment, of the motor. The clutch winding 51 includes a resistor 55 and the field and armature windings of the motor 55 include the resistors 55 and 51, respectively.

Referring now to the controlling system for the motors 45 and 55 and for the clutch 55, the armature circuit of the motor 45 has a reversing relay 58 operated magnetically by a winding 59 energized from the alternating current supply line 5|.

A relay, at 10, normally connects the winding 51 of the clutch in circuit and it is operated magnetically by the windings 1| and 12 of-an alternating current relay circuit to open the circuit of the clutch to deenergize the latter and to close the armature and field circuits of the motor 55 to energize the latter.

A selector switch, at 14, operates in conjunction with the self-opening limit switches 15 and 15 and the self-opening pushbutton switch 11 to provide for energization of the winding 58 of the reversing relay 58 for the motor 45 and such switch cooperates with the self-opening switch 18 and the self-closing switch 15 to control energization of the windings 1| and 12 of the relay, at 10.

With the selector switch, at 14, in the first or open position and designated by 1 in Fig. '1, both the energizing and control circuits are open, and the output elements 22a and 22e can then be moved only manually by operation of the handwheels 58 and 59.

In position 2 of the selector switch, for continuous scanning, the first of a group of contacts 13 is engaged to include the motor 45 in circuit for operation in either direction, as determined by operation of the reversing relay 58 secured by closing of the self-opening pushbutton switch 11.

In position 3, for sector scanning in azimuth, the second of the contacts 13 is engaged to include the motor 45 in circuit and the first of the contacts is engaged to condition the alternating current circuit 8|, including the winding 59 for closure upon closing of either of the selfopening limit switches 15 and 15.

In position 4, forcontinuous azimuth movement in one direction or the other, as determined by operation of the pushbutton switch 11, with elevational movement, for continuous helical scanning, the third of a group of contacts 13 is engaged to include the motor 45 in circuit, as before, the first of a pair of contacts 82 is engaged to condition the circuit 82a so as to include either the winding 51 of the clutch or the motor 55 in circuit, dependent upon operation of the relay, at 10, and the first of a pair of contacts 83 is engaged for conditioning the alternating current circuit 84 for closure upon the closing of the self opening switch 18, it being remembered that the switch 19 is a, self-closing one. As long as the circuit 84 is open, the windings 1| and 12 of the relay are deenergized and the contactor 81 engages the contacts 85 to include the clutch winding 51 in circuit with the direct current supply line 60. Upon closing of the self-opening switch 18, the relay windings II and 12 are placed in circuit with the alternating current supply line 6| and the relay operates to disengage the contactor ii'l from the contacts 86 to open the clutch circuit and to engage the contactor 88 with the contacts 89 to include the motor 58 in circuit with the supply line 60. As the self-opening switch I8 opens immediately upon the removal of closing effort. and as it is desired to maintain the circuit 84 closed until the self-closing switch I9 is opened, the circuit 84 includes the winding I2 arranged in parallel with the winding H and which is effective to move the contactor 90 to engage the contacts 9i to closethe relay circuit through the switch 19 with the switch 18 open.

For combined sector and helical scanning, the

selector switch is moved to position 5 in which the fourth one of the contacts #3 is engaged for maintenance of the motor 46 in circuit, the second of the contacts 80 is engaged for operation of the reversing relay 68 for sector scanning, the second of the contacts 82 is engaged for connecting either the clutch 55 or the motor 56 in circuit, dependent upon the position of the relay, at I0, and the second of the contacts 83 is engaged to condition the circuit 84 so that, upon closing of the self-opening switch I8, the circuit 84 is completed for energization of the relay, at I0, to disengage the contactor 81 from the contacts 86 to open the clutch circuit and to engage the contactor 88 with the contacts 89 to place the motor 56 in circuit.

The first gear mechanism, at 41, rotates an actuator 92 for engaging the self-opening limit switches I5 and I6 controlling the limits of the sector scanned. The switches I5 and 16 are relatively adjustable angularly; and, to this end, as shown in Fig. 1, the switch I6 is mounted on a supporting plate 93 having an arcuate slot 94 along which the switch I5 is adjustable.

The elevation self-opening contact I8 and selfclosing contact 19 are operated by the actuator 95, movable with the second gear mechanism, at 48. Assuming that the second gear mechanism is being driven through the clutch 55 from the motor 46 for upward elevational movement of the-antenna, when the actuator 95 reaches the self-opening switch 18, it closes the latter to operate the relay, at I0, to open the clutch circuit and to place the motor 56 in circuit, whereupon such motor operates for rapid downward elevational movement. The angle of sweep in elevation may be varied by relatively angular adjustment of the switches I8 and I9, the self-closing switcli'19 being mounted on a supporting plate 96 having an arcuate slot 91 along which the self-opening switch I8 is adjusted.

Referring to Fig. 1, the first gear mechanism, at 41, is comprised by bevel pinions 98 connecting the motor shaft 99 to the shaft I00, the latter shaft having a worm |I meshing with the worm wheel I02 which is connected to the shaft or output member 22a by means ofa diiferential, at 41a, including the opposed input bevel gears I03 and I04 and. the output pinions I05 meshing therewith and carried by the shaft 22a. The shaft 99 also has a worm I06 meshing with the worm wheel I01 carried by the shaft 53 for driving the bevel gears 5I and 52 of the mechanical rectifier, an the shaft 53 has a worm I08 for driving the worm wheel I09 carried by the shaft IIO connected by bevel gearing HI to the-actuator 92.

the clutch 55. The gear I I4 is connected to the shaft H5 coupled to the shaft of the motor 56 and driving the shaft H6 through bevel gearing H'I. The-shaft H6 has worms H8 and H9, the Worm II8 driving the worm wheel I20 for the actuator 95 and the worm H9 driving the worm wheel l2! which is connected, through the differential,.at 48c, to the actuated member 2242, the difierential including the input bevel gear I22 unitary with the worm wheel I2I the input bevel gear I23 and the output bevel plnions I24 carried by the output member 22c.

As shown in the drawings, the output members 22a and 22e drive suitable indicators, at I26a and l26e, by means of which the position of the body member or antenna, at I0, in azimuth and elevation is shown at the control station. The output member 22a is connected by meshing gears iZIa to an indicator actuating shaft I28a and the actuating member 22c being connected by similar gearing l2le of suitable ratio to the indicator shaft l28e.

Referring to the differential by means of which the output member 22a is operated by the gear mechanism, at 41, a friction clutch I32 normally holds the bevel gear I04 against rotation, with the result that the output member 22a rotates at half the angular speed of the input bevel gear I 03; however, the bevel gear I04 is operable manually by means of the handwheel or handle 58 to supply input to the differential so that the differential effect thereby produced serves for manual control of the output member 22a if the input bevel gear I03 is not rotating; and, with the bevel gear I03 rotating, the effect of rotation given to the input bevel gear I04 by operation of the handwheel is to advance or retard the output member 22a. In like manner, the differential by means of which motion is transmitted to the output member 22c may receive manual adjustment, the handwheel or handle 59 being operated to move the normally stationary bevel gear I23 so as to provide for manual input motion to the differential.

From the foregoing, it will be apparent that the mechanism described provides for control of the body member or antenna, at I0, for effective scanning in a variety of ways, as determined by the position of the selector switch, at I4. With the selector switch in the first or open position, designated 1, control is entirely manual, manual input movement received from the handwheel 58 resulting in movement in azimuth and manual input movement received from the handwheel 59 causing movement in elevation. In position 2, the motor 46 is placed in circuit for continuous scanning in either direction, as determined by manually-controlled operation of the relay 68. In position 3, the motor 46 remains in circuit and the first of the contacts is engaged to render the circuit 8| effective for sector scanning. In position 4, for continuous helical scanning, the motor 46 remains in circuit and the first engaged contact 82 conditions the circuit 82a so as to include either the clutch 55 or the motor 56 in circuit with the direct current supply line 60 dependent upon the position of the relay, at 10, and the first of the contactors 83 is engaged to condition the alternating current control circuit 84 for closure upon closing of the self-opening switch 18 by the actuator 95, whereupon the contactor vational movement derived from the motor 46,. and engaging the contactor 88 with the contacts 88 for operation of the motor 56 for downward elevational movement which proceeds rapidly and comes to an end when the actuator 95 opens the self-closing switch 19 to deenergize the windings H and 12 of t e relay, at 10, whereu on bias acting on the contactors 81 and 88 is effective to engage the contactor 81 with the clutch circuit c ntact 86 and to disengage the contactor 88 from the motor ci cuit contact 81. In posi ion 4, as in position "2, the direction of scanning movement is determined by manual operation of the relay 58 effected by actuation of the pushbu ton switch 11. In po ition 5. the operation is similar to that described in connection with position 4 except that, instead of continuous scanning in either direction, as desired. the second of the contacts 80 is engaged, for automatic operation of the relay 68 for sector scanning.

In addition to the handwheels 58 and 59 being the sole means for effecting angular movement of the output members 22a and 22e when the selector switch is in the first or open position, it will be apparent that such handwheels are desirable to advance or to retard either or both of the output members 22a and 222 in relation to the power means for driving one or both of them. Furthermore, by adjustin the arcuate distances between the limit switches 15 and 16 and between the limit switches 18 and 19, the arcs swept over in azimuth and in elevation may be varied.

While the invention has been shown in but one form, it will be obvious to those skilled in the art that it is not so limited. but is susceptible of various changes and modifications without departing from the spirit thereof.

What is claimed is:

1. In combination, with a body member movable about an axis by means of an operating motor, control apparatus located remotely from the body member and its operating motor and including a rotary output member, a differential including a rotary output element operated by a pair of input elements which are operable in synchronous relation with respect to the output membar and said body member, a gyro connected to the rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce gyro torque about an axis which is transverse to the first axis and to the spin axis, means for controlling the operating motor in response to gyro torque to drive the body member so as to maintain its matched angularly about its axis with the output member, driving motor means, gear mechanism connecting the driving motor means and the output member, a relay for controlling said driving motor means for rotation of the output member alternately in opposite directions, and means for operating the relay in response to movement of the gear mechanism to reverse the direction of motion of the output member.

2. In combination, with a body member movable about an axis by means of an operating motor, control apparatus located remotely from the body member and its operating motorv and including a rotary output member, and a telemetric system cooperating with the output memher and the body member to keep the latter matched angularly about its axis with the output member; said telemetric system comprising a differential including a pair of input elements cooperating "with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the output member and the body member, a gyro having input and output axes which are transverse to each other and to the spin axis and' including spring means opposing movement thereof about the output axis from a centered position, means for connecting said output element and the gym for movement of the latter about its input axis sothat angular velocity of the output element is accompanied by proportional gyro torque about the output axis, and variable means operated by movement of the gyro about the output axis for controllin the voltage supplied to the operating motor; a driving motor; gear mechanism connecting the driving motor and the output member; a reversing relay for said driving motor; and means including an actuating'element rotatable with the gear mechanism and a pair of limit switches which are alternately operated thereby to operate the reversing relay for reversing the direction of rotation of the driving motor.

3. In combination, with a body member movable about an axis by means of an operating motor, control apparatus located remotely from the body member and including a rotary output member, a differential including a rotary output element operated by a pair of input elements which are operable in synchronous relation with respect to the output member and said body member, a gyro connected to the rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce gyro torque about an aXiS which is transverse to the first axis and to the spin axis, means for controlling the operating motor in response to gyro torque to drive the body member so as to maintain it matched angularly about its axis with the output member, a driving motor, gear mechanism connecting the driving motor to the output member and including a differential, said differential including a pair of input gears and output pinions meshing with the gears and carried by said output member, means normally effective to hold one of said input gears against rotation and operable manually to rotate such input gear, a reversing relay for the driving motor, and means for operating reversing relay in response to movement of the gear.

4. In combination, with a body member movable in azimuth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its azimuth and elevation motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep'the body member matched angularly about the azimuth and elevation axes with the first and second output members, respectively; differential including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation; in synchronous relation with respect to the asso:-. 1 ciated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis which is each telemetric system comprising a transverse to the first axis and to the spin axis, and means operated in response to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connecting the first driving motor and the first output member; second gear mechanism connected to the second output member: means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a single direction; a clutch for connecting said output element to the second gear mechanism; a second driving motor operatively connected to the second gear mechanism; means for releasing said clutch when the second driving motor is energized; means for controlling the supplyof energy medium to the first driving motor for operation of the latter in either direction; .1 relay operative to supply and to interrupt the supply of energy medium to the second motor; and means for operating the relay in response to movement of the second gear mechanism.

5. In combination, with a bodymember movable in azimuth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its operating motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep the body member matched angularly about the azimuth and elevation axes with the first and second output members, respectively; each telemetric system comprising a difierential including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis which is transverse to the first axisand to the spin axis, and means operated in response to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor: first gear mechanism connecting the first driving motor and the first output member; second gear mechanism connected to the second output member; means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a. single direction; a clutch operated magnetically to connect said output element to the second gear mechanism: a second driving motor operatively connected to the second gear mechanism; means for contro ling the supply of energy medium to the first driving motor for operation of the latter in either direction; a relay operated alternately to supply ener y medium to the clutch and to the second motor; and means responsive to movement of the second gear mechanism to operate the relay.

6. In combination, with a body member movab e in azimuth and in elevation by means of azimuth and elevation .motors, control apparatus located remotely from the body member and its azimuth and elevation motors and including first in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis which is transverse to the first axis and to the spin axis, and means operated in response to gyro torque for controlling'the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connecting the first driving motor and the first output member; second gear mechanism connected to the second output member; means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a single direction; a normally engaged clutch for connecting said output element to the second gear mechanism; a second driving motor operatively connected to the second gear mechanism; means for releasing said clutch when the second driving motor is energized; a reversing relay for the first driving motor for operation thereof in either direction; means for operating the reversing relay in response to movement of the first gear mechanism; a relay operative to supply and to interrupt the supply of energy medium to the second driving motor; and means for operating the last-named relay in response to movement of the second gear mechanism.

7. In combination, with a body member movable in azimuth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its operating motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep the body member matched angularly about the azimuth and elevation axes with the first and second output members, respectively; each telemetric system comprising a difierential including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis which is transverse to the first axis and to the spin axis, and means operated in response to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connecting the first driving motor and the first output member; second gear mechanism connected to the second output member; means for converting rotary motion of the first gear mecha nism including rotary motion thereof in opposite directions into unidirectional rotary motion of an output element; a clutch operable magnetically to connect said output element to the second gear mechanism; a second driving motor for driving the second gear mechanism; a reversing relay for the first driving motor; means for operating the reversing relay in response to movement of the first gear mechanism; a relay effective alternately to supply energy medium to the clutch and to the second driving motor; and means for operating the last-named relay in response to movement of the second gear mechanism.

8. In combination, with a body member movable in azimuth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its azimuth and elevation motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep the body member matched angularly about the azimuth and elevation axes with the first and second output members, respectively; each telemetric system comprising a differential including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis correspondin to the output member, a gyro connected to said rotary output element so that angular velocity able in azimuth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its azimuth and elevation motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep the body member matched angularly about the azimuth and elevation axes with the first and second output members, respectively; each telemetric system comprising a differential including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis which is transverse to the first axis and to the spin axis, and means operated in response to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connectin the first driving motor and the first output member; second gear mechanism connected to the second output member; means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a single direction; a clutch operable magnetically to connect said output element to of the latter is applied to the gyro about an axis transverse to its spin axis to produce'proportional gyro torque about an axis which is transverse to the first axis and to the spin axis, and means operated in response to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connecting the first driving motor and the first output member; second gear mechanism connected to the second output member; means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a single direction; a normally engaged clutch for connecting said output element to the second gear mechanism; a second driving motor operatively connected to the second gear mechanism; means for releasing said clutch when the second driving motor is energized; means for controlling the supply of ener y medium to the first driving motor including a reversing relay; means including an actuating element rotatable with the first gear mechanism and a pair of limit switches which are alternately operated thereby to operate the reversing relay for reversing the direction of rotation of the V first driving motor; means for controlling the supply of energy medium to the second driving motor including a relay; and means including an actuating element rotatable with the second gear mechanism and a pair of limit switches which are alternately operated thereby to operate said relay to supply or to interrupt the supply of energy medium to the second driving motor.

9. In combination, with a body member movthe second gear mechanism; a second driving motor operatively connected to the second gear mechanism; means for controlling the supply of energy medium to the first driving motor including a reversing relay; means responsive to movement of the first gear mechanism for operating the reversing relay; a relay biased to a first position .to energize said clutch and deenergize the second motor and movable from such position to a second position to deenergize the clutch and to energize the second motor; magnetic means for moving the last-named relay from its first to its second position; an energizing circuit for the magnetic means; and means for closing and opening the energizing circuit in response to movement of the second gear mechanism.

10. In combination, with a body member movable in az muth and in elevation by means of azimuth and elevation motors, control apparatus located remotely from the body member and its azimuth and, elevation motors and including first and second output members; telemetric systems cooperating with the first and second output members and the azimuth and elevation motors, respectively, to keep the body member matched angularly about the azimuth and elevation axes with the first and second output members, re-

" spectively; each telemetric system comprising a differential. including a pair of input elements cooperating with a rotary output element, means for connecting the input elements for operation in synchronous relation with respect to the associated output member and the body member about its azimuth or elevation axis corresponding to the output member, a gyro connected to said rotary output element so that angular velocity of the latter is applied to the gyro about an axis transverse to its spin axis to produce proportional gyro torque about an axis whic 15- transverse to the first axis and to the spin axis, and means operated intresponse to gyro torque for controlling the azimuth or elevation motor to drive the body member so as to maintain it matched angularly about its azimuth or elevation axis corresponding to the output member; a first driving motor; first gear mechanism connecting the first driving motor to the first output member and including a diiierential; second gear mechanism connected to he second output member and including a second difierential; said first and second difierentials each including a pair of input gears and output pinions meshing with the gears with the output pinions of the first diiferential carried by the first output member and with such pinions of the second difierential carried by the second output member; means normally effective to hold one of said input gears of each difierential against rotation and operable 16 manually to rotate such input gear; means for converting rotary motion of the first gear mechanism in either direction into rotary motion of an output element in a single direction; a normally engaged clutch for connecting said output element and the second gear mechanism; a second driving motor operatively connected to the second gear mechanism; means for controlling the supply of energy medium to the first driving motor including a reversing relay; means for operating the reversing relay in response to movement of the first gear mechanism; a relay operative to supply and to interrupt the supply of energy medium to the second driving motor; and means responsive to movement of the second gear mechanism for operating the last-named relay.

JOHN H. BROADBENT. JOHN A. LOFGREN. 

